FR3069317B1 - METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD - Google Patents

METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD Download PDF

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Publication number
FR3069317B1
FR3069317B1 FR1756986A FR1756986A FR3069317B1 FR 3069317 B1 FR3069317 B1 FR 3069317B1 FR 1756986 A FR1756986 A FR 1756986A FR 1756986 A FR1756986 A FR 1756986A FR 3069317 B1 FR3069317 B1 FR 3069317B1
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France
Prior art keywords
magnetic field
environment
movement
magnetic
estimating
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Active
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FR1756986A
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French (fr)
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FR3069317A1 (en
Inventor
David Vissiere
Mathieu Hillion
David Caruso
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sysnav SAS
Original Assignee
Sysnav SAS
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Filing date
Publication date
Priority to FR1756986A priority Critical patent/FR3069317B1/en
Application filed by Sysnav SAS filed Critical Sysnav SAS
Priority to US16/632,422 priority patent/US10996059B2/en
Priority to PCT/FR2018/051836 priority patent/WO2019016473A1/en
Priority to JP2020502596A priority patent/JP7249995B2/en
Priority to CN201880061313.4A priority patent/CN111133274B/en
Priority to EP18752591.0A priority patent/EP3655725A1/en
Priority to KR1020207005188A priority patent/KR20200038262A/en
Publication of FR3069317A1 publication Critical patent/FR3069317A1/en
Application granted granted Critical
Publication of FR3069317B1 publication Critical patent/FR3069317B1/en
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters

Abstract

La présente invention concerne un procédé d'estimation du mouvement d'un objet (1) évoluant dans un environnement (?) et un champ magnétique ambiant, le procédé étant caractérisé en ce qu'il comprend des étapes de : (a) Acquisition : ? par des moyens de mesure inertielle (24) solidaires dudit objet (1), d'au moins une composante d'une accélération et/ou d'une vitesse angulaire de l'objet (1), dite donnée inertielle ; ? par des moyens de mesure magnétique (20) solidaires dudit objet (1), d'au moins une composante du champ magnétique et/ou d'une dérivée i-ième du champ magnétique, au niveau des moyens de mesure magnétique (20), dite donnée magnétique ; ? par des moyens d'acquisition optique (26) solidaires dudit objet (1), d'images consécutives de l'environnement (?), dites donnée de vision ; (b) Estimation par les moyens de traitement de données (21, 31, 41) d'au moins une composante du mouvement dudit objet (1) en utilisant la donnée inertielle, ainsi que la donnée magnétique et/ou la donnée de vision.The present invention relates to a method for estimating the movement of an object (1) moving in an environment (?) And an ambient magnetic field, the method being characterized in that it comprises steps of: (a) Acquisition: ? by inertial measurement means (24) integral with said object (1), at least one component of an acceleration and / or an angular speed of the object (1), called inertial data; ? by magnetic measuring means (20) integral with said object (1), at least one component of the magnetic field and / or an i-th derivative of the magnetic field, at the level of the magnetic measuring means (20), called magnetic data; ? by optical acquisition means (26) integral with said object (1), consecutive images of the environment (?), called vision data; (b) Estimation by the data processing means (21, 31, 41) of at least one component of the movement of said object (1) using the inertial datum, as well as the magnetic datum and / or the vision datum.

FR1756986A 2017-07-21 2017-07-21 METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD Active FR3069317B1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1756986A FR3069317B1 (en) 2017-07-21 2017-07-21 METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD
PCT/FR2018/051836 WO2019016473A1 (en) 2017-07-21 2018-07-19 Method for estimating the movement of an object moving in a magnetic field environment
JP2020502596A JP7249995B2 (en) 2017-07-21 2018-07-19 Method, apparatus, and associated computer program and storage means for estimating motion of moving objects in environment and ambient magnetic field
CN201880061313.4A CN111133274B (en) 2017-07-21 2018-07-19 Method for estimating the movement of an object moving in an environment and a magnetic field
US16/632,422 US10996059B2 (en) 2017-07-21 2018-07-19 Method for estimating the movement of an object moving in an environment and a magnetic field
EP18752591.0A EP3655725A1 (en) 2017-07-21 2018-07-19 Method for estimating the movement of an object moving in a magnetic field environment
KR1020207005188A KR20200038262A (en) 2017-07-21 2018-07-19 Method for estimating the motion of moving objects within the environment and magnetic field

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1756986A FR3069317B1 (en) 2017-07-21 2017-07-21 METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD
FR1756986 2017-07-21

Publications (2)

Publication Number Publication Date
FR3069317A1 FR3069317A1 (en) 2019-01-25
FR3069317B1 true FR3069317B1 (en) 2020-10-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1756986A Active FR3069317B1 (en) 2017-07-21 2017-07-21 METHOD OF ESTIMATING THE MOVEMENT OF AN OBJECT EVOLVING IN AN ENVIRONMENT AND A MAGNETIC FIELD

Country Status (7)

Country Link
US (1) US10996059B2 (en)
EP (1) EP3655725A1 (en)
JP (1) JP7249995B2 (en)
KR (1) KR20200038262A (en)
CN (1) CN111133274B (en)
FR (1) FR3069317B1 (en)
WO (1) WO2019016473A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3082722B1 (en) * 2018-06-21 2020-09-25 Sysnav PROCESS FOR ANALYZING THE STRIDE OF A WALKING PEDESTRIAN

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2914739B1 (en) 2007-04-03 2009-07-17 David Jean Vissiere SYSTEM PROVIDING THE SPEED AND POSITION OF A BODY USING MAGNETIC FIELD VARIATIONS EVALUATED THROUGH MEASUREMENTS OF MAGNETIOMETERS AND ONE OR MORE INERTIAL PLANTS
US8065074B1 (en) * 2007-10-01 2011-11-22 Memsic Transducer Systems Co., Ltd. Configurable inertial navigation system with dual extended kalman filter modes
JPWO2011068184A1 (en) * 2009-12-03 2013-04-18 独立行政法人産業技術総合研究所 Mobile positioning device
FR2960634B1 (en) 2010-05-27 2012-06-22 Sysnav DEVICE AND METHOD FOR DETERMINING DEPTH INFORMATION FROM AN OPTICAL SENSOR LIKELY TO BE MOVED
FR2977313B1 (en) * 2011-06-28 2013-08-09 Centre Nat Etd Spatiales SPACE ENGINE WITH SPEED VECTOR ESTIMATING DEVICE AND CORRESPONDING ESTIMATION METHOD
US8761439B1 (en) * 2011-08-24 2014-06-24 Sri International Method and apparatus for generating three-dimensional pose using monocular visual sensor and inertial measurement unit
US9161172B2 (en) * 2012-11-06 2015-10-13 Qualcomm Incorporated Map-based adaptive sampling of orientation sensors for positioning
JP2015055534A (en) * 2013-09-11 2015-03-23 株式会社リコー Information processing apparatus, control program thereof, and control method thereof
US9303999B2 (en) * 2013-12-30 2016-04-05 Google Technology Holdings LLC Methods and systems for determining estimation of motion of a device
US20160140729A1 (en) * 2014-11-04 2016-05-19 The Regents Of The University Of California Visual-inertial sensor fusion for navigation, localization, mapping, and 3d reconstruction
CN104658012B (en) * 2015-03-05 2017-04-12 第二炮兵工程设计研究院 Motion capture method based on inertia and optical measurement fusion
US9588598B2 (en) * 2015-06-30 2017-03-07 Ariadne's Thread (Usa), Inc. Efficient orientation estimation system using magnetic, angular rate, and gravity sensors
CN106709222B (en) * 2015-07-29 2019-02-01 中国科学院沈阳自动化研究所 IMU drift compensation method based on monocular vision
US10378900B2 (en) * 2015-09-16 2019-08-13 Raytheon Company Magnetic field gradient navigation aid
CN105222772B (en) * 2015-09-17 2018-03-16 泉州装备制造研究所 A kind of high-precision motion track detection system based on Multi-source Information Fusion
US10168159B2 (en) * 2015-09-24 2019-01-01 Microsoft Technology Licensing, Llc Magnetometer arrays for inertial navigation, mapping, and drift compensation
FR3069316B1 (en) 2017-07-21 2019-08-16 Sysnav METHOD FOR ESTIMATING THE MOVEMENT OF A EVOLVING OBJECT IN A MAGNETIC FIELD

Also Published As

Publication number Publication date
EP3655725A1 (en) 2020-05-27
FR3069317A1 (en) 2019-01-25
CN111133274A (en) 2020-05-08
CN111133274B (en) 2023-10-20
JP2020527235A (en) 2020-09-03
US20200208981A1 (en) 2020-07-02
WO2019016473A1 (en) 2019-01-24
KR20200038262A (en) 2020-04-10
US10996059B2 (en) 2021-05-04
JP7249995B2 (en) 2023-03-31

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